US9753289B2 - Head up display device - Google Patents

Head up display device Download PDF

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Publication number
US9753289B2
US9753289B2 US14/915,168 US201414915168A US9753289B2 US 9753289 B2 US9753289 B2 US 9753289B2 US 201414915168 A US201414915168 A US 201414915168A US 9753289 B2 US9753289 B2 US 9753289B2
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Prior art keywords
driving means
display
concave mirror
observer
head
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US14/915,168
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US20160209663A1 (en
Inventor
Takuro HIROKAWA
Takeshi Yachida
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Nippon Seiki Co Ltd
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Nippon Seiki Co Ltd
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Assigned to NIPPON SEIKI CO., LTD. reassignment NIPPON SEIKI CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HIROKAWA, TAKURO, YACHIDA, TAKESHI
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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0149—Head-up displays characterised by mechanical features
    • G06K9/00604—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/001—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/18—Eye characteristics, e.g. of the iris
    • G06V40/19—Sensors therefor
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0149—Head-up displays characterised by mechanical features
    • G02B2027/0154—Head-up displays characterised by mechanical features with movable elements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0181—Adaptation to the pilot/driver

Definitions

  • the present invention relates to a head up display device.
  • a display device for a vehicle called a head up display projects display light representing a display image emitted from a display onto a front glass or a dedicated combiner, and enables an observer (mainly, a driver) to recognize a virtual image of the display image superimposed on a scene viewed through a front glass or the like.
  • a height of observer's viewpoint is not constant due to differences in physique and driving posture.
  • a head up display disclosed in Patent Literatures 1 to 3 is known.
  • Patent Literature 1 Japanese Unexamined Patent Application Publication No. 5-229366
  • Patent Literature 2 Japanese Unexamined Patent Application Publication No. 7-329603
  • Patent Literature 3 Japanese Unexamined Patent Application Publication No. 2010-179918
  • the head up display disclosed in Patent Literature 1 is configured to vertically adjust a projection position of display light on a front glass or the like by enabling adjustment of inclination of a plane mirror for reflecting display light from a display toward a front glass or the like.
  • an incident position and an incident angle of display light to a front glass or the like are uniquely determined simultaneously with the adjustment of a display light projection position.
  • a virtual image is vertically moved and deviated in superimposition with scenery.
  • the head up display disclosed in Patent Literature 2 is configured to move both a display and a concave mirror (an optical path changing means) for directing display light to a front glass, along an arc centered on an intersection where a first temporary sight line of a first sight line and a second sight line intersects.
  • the first temporary sight line of the first sight line is reflected and directed to a front glass.
  • the first sight line is a sight line of a passenger viewing an image at a predetermined position outside a front glass from a high eye position.
  • the second sight line is a sight line of a passenger viewing an image at a predetermined position outside a front glass from a low eye position.
  • the head up display disclosed in Patent Literature 3 is configured to arrange a display, a semitransparent reflection mirror, and optical elements for image expansion (including a second reflection mirror), in order at intervals along a longitudinal direction of a vehicle.
  • display light is partially reflected by the second reflection mirror through the semitransparent reflection mirror, enlarged by the optical elements for image expansion, and reflected to the front glass by the semitransparent reflection mirror.
  • the semitransparent reflection mirror is configured movable in a longitudinal direction and variable in an inclination angle, and the display and the second reflection mirror are not configured movable.
  • a projection position of display light onto a front glass is adjustable without vertically moving a virtual image position.
  • the semitransparent reflection mirror decreases brightness of a virtual image.
  • the present invention has been made in view of the above. Accordingly it is an object of the invention to provide a head up display device capable of adjusting a projection position of display light depending on a height of observer's viewpoint without moving a virtual image in a vertical direction.
  • a head up display device reflects display light representing a display image emitted from a display by a concave mirror, and projects the display light to a combiner, the head up display device comprising:
  • the head up display device is possible to adjust a projection position of display light depending on a viewpoint height of an observer, without moving a virtual image in a vertical direction.
  • FIG. 1 is a schematic diagram showing an outline of a head up display device according to an embodiment of the present invention.
  • FIG. 2 is a schematic cross-sectional view showing a configuration of a head up display device according to an embodiment of the invention.
  • FIG. 3 is a block diagram showing an electrical configuration of a head up display device according to an embodiment of the invention.
  • FIG. 4 is a flowchart showing a method of controlling first and second driving means according to an embodiment of the invention.
  • FIG. 5 is a schematic diagram for explaining a method of adjusting a projection position of display light according to an embodiment of the invention.
  • FIG. 6 is a schematic diagram for explaining a method of adjusting a projection position of display light according to a conventional example.
  • FIG. 1 shows an outline of a head up display device according to the embodiment.
  • a head up display device 100 according to the embodiment is installed in a dashboard of a vehicle 200 .
  • the head up display device 100 emits display light L representing a display image from an emitting part 101 to a front glass 201 of the vehicle 200 .
  • the display light L reflected by the front glass 201 reaches an eye 1 of an observer.
  • the observer recognizes a virtual image (a virtual image projected on the front glass 201 ) V of the display image represented by the display light L reflected by the front glass 201 .
  • the observer recognizes a display image though the front glass 201 as if it is located distant and superimposed on a scene in front of the vehicle 200 .
  • FIG. 2 shows an outline of a cross section of the head up display device 100 in a horizontal direction of the vehicle 200 ( FIG. 1 ).
  • FIG. 3 shows an electrical configuration of the head up display device 100 .
  • the head up display device 100 comprises a case 10 , a display 20 , a concave mirror 30 , a first driving means 40 , a second driving means 50 , and a control means 60 .
  • the case 10 is a substantially box-shaped member made of a metal material such as aluminum.
  • the case 10 is provided with various mounting shapes (not shown) inside, and able to retain the display 20 and the concave mirror 30 in a prescribed positional relationship in this embodiment.
  • the inner surface of the case 10 is painted black, for example, to be less likely to occur stray light due to the outside and the display 20 .
  • a rack 11 is provided on the bottom surface of the case 10 .
  • the rack is provided with a plurality of teeth formed like a row in a longitudinal direction of the vehicle 200 , and engaged with a gear 51 of the second driving means 50 .
  • the case 10 is provided movable in the longitudinal direction along with the rotational drive of the second driving means 50 .
  • an opening is provided as the emitting part 101 for emitting the display light L.
  • the emitting part 101 is provided with a cover 12 made of transparent resin material to cover the opening.
  • the display 20 comprises a TFT liquid crystal display element, for example, and an LED light source for transmilluminating the liquid crystal display element from the back side.
  • the display 20 displays time and vehicle information such as vehicle traveling speed and f remaining fuel amount as a display image, and emits display light L representing the display image to the concave mirror 30 .
  • the concave mirror 30 is formed by depositing a reflective layer made of metal material such as aluminum on a resin substrate made of polycarbonate, for example.
  • the concave mirror is arranged with the reflective surface faced upwardly inclined with respect to the display surface of the display 20 , and magnifies and reflects the display light L emitted from the display 20 to the emitting part 101 .
  • the concave mirror 30 is provided with a gear 31 on the side opposite to the reflective surface (front side in FIG. 2 ).
  • the gear 31 engages with a gear 41 of the first driving means 40 .
  • the concave mirror 30 is provided to be able to adjust an angle (rotation) in a longitudinal direction along with the rotational drive of the first driving means 40 .
  • the first driving means 40 comprises a stepping motor, for example, and is provided with the gear 41 in the rotation axis.
  • the first driving means 40 is disposed within the case 10 , and the gear 41 is engaged with the gear 31 of the concave mirror 30 .
  • an inclination angle in the longitudinal direction of the concave mirror 30 is adjusted.
  • the second driving means 50 comprises a stepping motor, for example, and is provided with the gear 51 in the rotation axis.
  • the second driving means 50 is disposed in a lower part of the case 10 , and the gear 51 is engaged with the rack 11 of the case 10 .
  • the case 10 becomes movable in the longitudinal direction.
  • the control means 60 controls the display 20 , the first driving means 40 , the second driving means 50 , etc.
  • the control means 60 sends an image signal to the display 20 to control the display 20 (to display a display image).
  • the control means 60 comprises a CPU (Central Processing Unit) 61 , a ROM (Read Only Memory) 62 , a general-purpose memory 63 , a video memory 64 , an external interface 65 , and the likes.
  • the external interface 65 is connected to a CAN (Control Area Network) bus 67 for transmitting and receiving information about the display 20 , the first driving means 40 , the second driving means 50 , and the vehicle 200 .
  • CAN Control Area Network
  • the external interface 65 is connected to an input means 66 , which accepts viewpoint position information (key input information and captured image information from an imaging means for imaging the eye 1 of the observer) for adjusting the inclination angle of the concave mirror 30 and the longitudinal position the case 10 .
  • viewpoint position information key input information and captured image information from an imaging means for imaging the eye 1 of the observer
  • the front glass 201 is a glass having a predetermined curved surface (convex to the outside direction of the vehicle 200 ) ( FIG. 1 ).
  • the display light L emitted from the display 20 is expanded by the concave mirror 30 , and reflected back toward the emitting part 101 .
  • the display light L emitted from the emitting part 101 to the outside is projected on the front glass 201 of the vehicle 200 .
  • the display light L projected on the front glass 201 reaches the eye 1 of the observer.
  • the observer recognizes a virtual image V of a display image represented by the display light L reflected by the front glass 201 as if it is superimposed on a scene in front of the vehicle 200 .
  • the CPU 61 of the control means 60 in step S 1 , inputs current viewpoint position information B (including at least height) of the observer.
  • the viewpoint position information may be key input information made by the observer by operating a not-shown switch means based on an own viewpoint position, or may be captured image information input at predetermined time intervals from an image pickup means, which is provided for imaging a face of the observer (including at least the eye 1 of the observer).
  • the CPU 61 moves to step S 2 after inputting the current viewpoint position information B in step S 1 .
  • step S 2 the CPU 61 , in step S 2 , reads past (previous) viewpoint position information A stored in the general-purpose memory 63 , and in step S 3 , calculates a difference C between the past viewpoint position information A and the current viewpoint position information B.
  • the CPU 61 determines whether an absolute value of the difference C is greater than a predetermined threshold value x (
  • a predetermined threshold value x (
  • the CPU 61 moves to step S 5 .
  • the CPU 61 moves to step S 7 .
  • the CPU 61 in step S 5 , reads, respectively the control values (correction values) of the first driving means 40 and the second driving means 50 corresponding to the current viewpoint position information B from the general-purpose memory 63 . Then, the CPU 61 , in step S 6 , outputs the control values to the first driving means 40 and the second driving means 50 .
  • the control values of the first driving means 40 and the second driving means 50 are set in a plural number in being associated with a plurality of values of viewpoint position information, for example, and stored in the general-purpose memory 63 as a data table.
  • the first driving means 40 rotates based on the input control value, and adjusts the inclination angle of the concave mirror 30 .
  • the driving means 50 rotates based on the input control value, and moves the longitudinal position the case 10 (i.e., the longitudinal positions of the display 20 and the concave mirror 30 ).
  • the CPU 61 in step S 7 , stores the current viewpoint position information B as the past viewpoint position information A in the general-purpose memory 63 , and updates the past viewpoint position information A.
  • the CPU 61 By repeatedly executing the above control until the power is turned off, the CPU 61 operates the first driving means 40 and the second driving means 50 according to the current viewpoint position information B of the observer, and moves the inclination angle of the concave mirror 30 and the longitudinal positions of the case 10 . As a result, the CPU 61 can adjust the projection position of the display light L depending on the height of the observer's viewpoint position.
  • FIG. 5 shows specific examples of a method of adjusting the projection position of the display light L.
  • FIG. 5 ( a ) shows the case where the height of the eye 1 of the observer (viewpoint position) is located in a reference position (e.g., in the middle of upper and lower sides of an eye box).
  • the display light L emitted from the emitting part 101 of the head up display device 100 is projected onto a predetermined projection point P 1 on the front glass 201 .
  • the display light L reflects on the front glass 201 , and reaches the eye 1 of the observer.
  • the virtual image V of the display image is recognized at an arbitrary position in front (for example, 10 ⁇ 20 m forward) of the front glass 201 .
  • FIG. 5 ( b ) shows the case where the height of the eye 1 of the observer moves to a higher position with respect to the reference position.
  • the CPU 61 executes the above control method, and controls the first driving means 40 and the second driving means 50 depending on the input of the current viewpoint position information B.
  • the second driving means 50 rotates to move the case 10 rearward
  • the first driving means 40 rotates to move the concave mirror 30 counterclockwise in FIG. 5 , namely, to incline the upper end of the concave mirror 30 forward, thereby adjusting the inclination angle of the concave mirror 30 more upward.
  • the display light L emitted from the emitting part 101 is projected onto a projection point P 2 located more upward the projection point P 1 on the front glass 201 .
  • the display light L reflected by the front glass 201 reaches the eye 1 of the observer to be overlapped with the line of sight toward the arbitrary position in front of the front glass 201 . Therefore, the observer can recognize the virtual image V even at a viewpoint higher than the reference position, without moving in a vertical direction from the position of the virtual image V at the reference position.
  • FIG. 5 ( c ) shows the case where the height of the eye 1 of the observer moves to a lower position with respect to the reference position.
  • the CPU 61 executes the above control method, and controls the first driving means 40 and the second driving means 50 depending on the input of the current viewpoint position information B.
  • the second driving means 50 rotates to move the case 10 forward
  • the first driving means 40 rotates to move the concave mirror 30 clockwise in FIG. 5 , namely, to incline the upper end of the concave mirror 30 rearward, thereby adjusting the inclination angle of the concave mirror 30 more downward.
  • the display light emitted from the emitting part 101 is projected to a projection point P 3 located more downward the projection point P 1 on the front glass 201 .
  • the display light L reflected by the front glass 201 reaches the eye 1 of the observer to be overlapped with the line of sight toward the arbitrary position in front of the front glass 201 from the eye 1 of the observer. Therefore, the observer can recognize the virtual image V even at a viewpoint lower than the reference position, without moving in a vertical direction from the position of the virtual image V at the reference position.
  • FIG. 6 shows the case where only the angle adjustment of the concave mirror 30 is performed depending on the height of the eye 1 of the observer (a conventional example).
  • the first driving means 40 rotates to move the concave mirror 30 clockwise in FIG. 6 , namely, to incline the upper end of the concave mirror 30 rearward, thereby adjusting the inclination angle of the concave mirror 30 more downward.
  • the display light L emitted from the emitting part 101 is projected onto a projection point P 4 located more upward the projection point P 1 at the reference position, and the display light L reflected by the front glass 201 reaches the eye 1 of the observer. Therefore, the observer can recognize the virtual image V at a high viewpoint position, but as the emission angle of the display light L from the front glass 201 is uniquely defined, the position of the virtual image V moves in a vertical direction.
  • the first driving means 40 rotates to move the concave mirror 30 counterclockwise in FIG.
  • the display light L is projected onto a projection point P 5 located more downward the projection point P 1 at the reference position, and the display light L reflected by the front glass 201 reaches the eye 1 of the observer. Therefore, the observer can recognize the virtual image V at a low viewpoint position, but the position of the virtual image V moves in a vertical direction.
  • the head up display device 100 described in the above embodiment it is possible to adjust a projection position of display light depending on the height of a viewpoint of an observer, without moving a virtual image in a vertical direction. This is achieved by the following configurations.
  • the head up display device 100 reflects the display light L representing a display image emitted from the display 20 by the concave mirror 30 , and projects the display light to the front glass 201 .
  • the head up display device 100 comprises the case 10 that retains the display 20 and the concave mirror 30 in a prescribed positional relationship; a first driving means 40 that rotates the concave mirror 30 ; the second driving means 50 that moves the case 10 forward and rearward; and the control means 60 that operates the first and second driving means 40 and 50 according to a viewpoint position information of an observer, and adjusts a projection position of the display light L on the front glass 201 depending on a height of the observer's viewpoint.
  • the case 10 moves only in a longitudinal direction, a space required for the movement is reduced compared with moving in an arc shape, and upsizing of the head up display device 100 can be suppressed. Further, it is unnecessary to use a semi-transparent mirror for adjusting a projection position of the display light L, and brightness of a virtual image is not decreased.
  • Such head up display device 100 is provided with the general-purpose memory 63 , which stores the correction values of the first and second driving means 40 and 50 corresponding to the viewpoint position information.
  • the control means 60 operates the first and second driving means 40 and 50 based on the correction values.
  • the viewpoint position information is captured image information output from an imaging means for imaging the eye 1 of an observer. Further, the viewpoint position information is switch input information by the observer.
  • the control means 60 may change the operating states of the first and second driving means 40 and 50 , that is, the correction parameters for correcting the distortion of the virtual image V in accordance with the projection position of the display light L.
  • the correction parameters are used for previously displaying distortion of a display image in the direction reverse to the distortion on the front glass 201 in order to suppress the distortion of the virtual image V projected on the front glass 201 .
  • the general-purpose memory 63 stores a plurality of correction parameters in association with the control values of the first and second driving means 40 and 50 .
  • the CPU 61 of the control means 60 determines the correction parameters in accordance with the control values of the first and second driving means 40 and 50 , which are determined by the control method described above, and outputs the correction parameters to the display 20 .
  • the distortion of the virtual image V can be suppressed.
  • the head up display device 100 may be provided with a folding mirror within the case 10 for reflecting back the display light L emitted from the display 20 toward the concave mirror 30 .
  • an organic EL (Electroluminescence) display may be used as the display 20 .
  • a projection-type display may be used as the display 20 .
  • a combiner (projected member) that is projected by the display light L is not limited to the front glass 201 of the vehicle 200 .
  • a combiner that is projected by the display light L may be an exclusively provided combiner member.
  • the present invention is suitable for a head up display device.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Ophthalmology & Optometry (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Instrument Panels (AREA)
US14/915,168 2013-09-20 2014-09-16 Head up display device Active US9753289B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2013195574A JP6160398B2 (ja) 2013-09-20 2013-09-20 ヘッドアップディスプレイ装置
JP2013-195574 2013-09-20
PCT/JP2014/074368 WO2015041203A1 (fr) 2013-09-20 2014-09-16 Dispositif d'affichage tête haute

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US9753289B2 true US9753289B2 (en) 2017-09-05

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EP (1) EP3048468B1 (fr)
JP (1) JP6160398B2 (fr)
WO (1) WO2015041203A1 (fr)

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USRE50118E1 (en) * 2016-02-12 2024-09-10 Maxell, Ltd. Image display apparatus for vehicle

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CN105774679B (zh) * 2014-12-25 2019-01-29 比亚迪股份有限公司 一种汽车、车载抬头显示系统及其投影图像高度调节方法
JP6474278B2 (ja) * 2015-02-27 2019-02-27 株式会社ソニー・インタラクティブエンタテインメント 画像生成システム、画像生成方法、プログラム及び情報記憶媒体
JP6512016B2 (ja) * 2015-07-27 2019-05-15 日本精機株式会社 車両用表示装置
DE102015010373B4 (de) * 2015-08-07 2024-07-18 Audi Ag Verfahren zum Anpassen einer Position eines virtuellen Bildes eines Head-up-Displays eines Kraftfahrzeugs, außerdem Head-up-Display und Kraftfahrzeug
CN105150935A (zh) * 2015-08-19 2015-12-16 京东方科技集团股份有限公司 平视显示器、平视显示方法以及车载显示装置
WO2017090464A1 (fr) * 2015-11-25 2017-06-01 日本精機株式会社 Affichage tête haute
CN105892647B (zh) * 2016-03-23 2018-09-25 京东方科技集团股份有限公司 一种显示屏调整方法、其装置及显示装置
JP6828736B2 (ja) * 2016-03-28 2021-02-10 日本精機株式会社 車両用表示装置
DE102016005200A1 (de) * 2016-04-29 2017-11-02 Audi Ag Head-up-Anzeigevorrichtung mit einem holographisch optischen Element für ein Kraftfahrzeug
JP6874769B2 (ja) * 2016-08-10 2021-05-19 日本精機株式会社 車両用表示装置
CN113296273B (zh) * 2016-10-04 2023-03-21 麦克赛尔株式会社 光学系统
CN107219889A (zh) * 2017-05-25 2017-09-29 京东方科技集团股份有限公司 护眼显示装置和显示屏调整方法
JP6971087B2 (ja) * 2017-08-25 2021-11-24 株式会社Subaru 視認補助装置
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WO2019224922A1 (fr) * 2018-05-22 2019-11-28 三菱電機株式会社 Dispositif de commande d'affichage tête haute, système d'affichage tête haute et procédé de commande d'affichage tête haute
WO2019238849A1 (fr) * 2018-06-15 2019-12-19 Continental Automotive Gmbh Appareil pour la génération d'une image virtuelle comprenant une correction des reflets
CN112433379A (zh) * 2020-12-02 2021-03-02 未来汽车科技（深圳）有限公司 一种虚像高度调节精度的补偿方法及使用该方法的光机
JP2022132089A (ja) * 2021-02-26 2022-09-07 ダイハツ工業株式会社 ヘッドアップディスプレイ装置
JP7538165B2 (ja) 2022-03-07 2024-08-21 矢崎総業株式会社 車両用表示装置
WO2024034078A1 (fr) * 2022-08-10 2024-02-15 日産自動車株式会社 Procédé de commande d'affichage et dispositif de commande d'affichage
WO2024203229A1 (fr) * 2023-03-29 2024-10-03 株式会社小糸製作所 Dispositif de projection d'image

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WO2015041203A1 (fr) 2015-03-26
EP3048468A4 (fr) 2017-05-31

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